EP4023517A4 - Verfahren und vorrichtung zur steuerung von automatischem parken - Google Patents

Verfahren und vorrichtung zur steuerung von automatischem parken Download PDF

Info

Publication number
EP4023517A4
EP4023517A4 EP20894171.6A EP20894171A EP4023517A4 EP 4023517 A4 EP4023517 A4 EP 4023517A4 EP 20894171 A EP20894171 A EP 20894171A EP 4023517 A4 EP4023517 A4 EP 4023517A4
Authority
EP
European Patent Office
Prior art keywords
control method
automatic parking
parking control
automatic
parking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20894171.6A
Other languages
English (en)
French (fr)
Other versions
EP4023517A1 (de
EP4023517B1 (de
Inventor
Tong Gao
Dongchun XU
Zhichao FAN
Hong Wei
Jinbiao BAI
Shasha GAO
Zhen Yang
Xiaolong TIAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Great Wall Motor Co Ltd
Original Assignee
Great Wall Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Great Wall Motor Co Ltd filed Critical Great Wall Motor Co Ltd
Publication of EP4023517A1 publication Critical patent/EP4023517A1/de
Publication of EP4023517A4 publication Critical patent/EP4023517A4/de
Application granted granted Critical
Publication of EP4023517B1 publication Critical patent/EP4023517B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/417—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section involving the use of neural networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/06—Physical realisation, i.e. hardware implementation of neural networks, neurons or parts of neurons
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B60W2050/0295—Inhibiting action of specific actuators or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/20—Data confidence level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/35—Data fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Evolutionary Computation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Health & Medical Sciences (AREA)
  • Mathematical Physics (AREA)
  • Artificial Intelligence (AREA)
  • Multimedia (AREA)
  • General Health & Medical Sciences (AREA)
  • Software Systems (AREA)
  • Computing Systems (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Electromagnetism (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Databases & Information Systems (AREA)
  • Medical Informatics (AREA)
  • Computational Linguistics (AREA)
  • General Engineering & Computer Science (AREA)
  • Neurology (AREA)
  • Data Mining & Analysis (AREA)
  • Molecular Biology (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
EP20894171.6A 2019-11-29 2020-11-27 Verfahren und vorrichtung zur steuerung von automatischem parken Active EP4023517B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201911206068.4A CN110901632B (zh) 2019-11-29 2019-11-29 一种自动泊车控制方法及装置
PCT/CN2020/132384 WO2021104476A1 (zh) 2019-11-29 2020-11-27 一种自动泊车控制方法及装置

Publications (3)

Publication Number Publication Date
EP4023517A1 EP4023517A1 (de) 2022-07-06
EP4023517A4 true EP4023517A4 (de) 2022-11-09
EP4023517B1 EP4023517B1 (de) 2024-01-03

Family

ID=69820953

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20894171.6A Active EP4023517B1 (de) 2019-11-29 2020-11-27 Verfahren und vorrichtung zur steuerung von automatischem parken

Country Status (6)

Country Link
US (1) US11745730B2 (de)
EP (1) EP4023517B1 (de)
JP (1) JP7379683B2 (de)
KR (1) KR20220093095A (de)
CN (1) CN110901632B (de)
WO (1) WO2021104476A1 (de)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110901632B (zh) 2019-11-29 2021-04-06 长城汽车股份有限公司 一种自动泊车控制方法及装置
CN111591283A (zh) * 2020-04-13 2020-08-28 长城汽车股份有限公司 一种监控车辆运动轨迹的方法、装置及系统
CN111845718B (zh) * 2020-06-19 2022-11-22 浙江吉利汽车研究院有限公司 一种基于车辆状态的自动泊车方法、装置和车辆
CN112158192A (zh) * 2020-06-24 2021-01-01 上汽通用五菱汽车股份有限公司 泊车控制方法以及泊车控制系统
CN112162547B (zh) * 2020-06-24 2023-05-26 上汽通用五菱汽车股份有限公司 车辆自动泊出方法、系统及可读存储介质
CN111976718B (zh) * 2020-07-13 2022-03-01 浙江华锐捷技术有限公司 自动泊车的控制方法和系统
CN112216136A (zh) * 2020-09-15 2021-01-12 华人运通(上海)自动驾驶科技有限公司 泊车位检测方法、装置、车辆及存储介质
CN112572419B (zh) * 2020-12-22 2021-11-30 英博超算(南京)科技有限公司 一种提高代客泊车启动安全性的车周盲区监控系统
CN112590776B (zh) * 2020-12-24 2022-08-16 广州小鹏自动驾驶科技有限公司 车辆自动泊车方法、装置、车辆和存储介质
CN112622883B (zh) * 2020-12-25 2022-07-15 芜湖雄狮汽车科技有限公司 自动泊车的故障处理方法、装置及车辆
CN113076896A (zh) * 2021-04-09 2021-07-06 北京骑胜科技有限公司 一种规范停车方法、系统、装置及存储介质
CN113753031A (zh) * 2021-09-17 2021-12-07 上海仙塔智能科技有限公司 Havp的处理方法、装置、电子设备与存储介质
CN114407926A (zh) * 2022-01-20 2022-04-29 深圳市易成自动驾驶技术有限公司 基于自动驾驶的人工智能危险场景的车辆控制方法和车辆
CN114834442A (zh) * 2022-05-19 2022-08-02 远峰科技股份有限公司 自动泊车泊入/泊出切换方法及车载控制设备
FR3137644A1 (fr) * 2022-07-11 2024-01-12 Psa Automobiles Sa Surveillance multi-conditions d’une fonction de stationnement automatique d’un véhicule
CN117885756A (zh) * 2024-03-14 2024-04-16 同致电子科技（厦门）有限公司 一种他车泊出轨迹的确定方法、装置、设备及存储介质

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170355307A1 (en) * 2016-06-14 2017-12-14 Lg Electronics Inc. Parking assistance apparatus and vehicle having the same
CN108860139A (zh) * 2018-04-11 2018-11-23 浙江零跑科技有限公司 一种基于深度增强学习的自动泊车轨迹规划方法
CN108875911A (zh) * 2018-05-25 2018-11-23 同济大学 一种泊车位检测方法
CN109808682A (zh) * 2019-02-20 2019-05-28 百度在线网络技术（北京）有限公司 无人车停靠方法、装置和终端

Family Cites Families (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007105518A1 (ja) * 2006-03-14 2007-09-20 Pioneer Corporation 位置登録装置、経路探索装置、位置登録方法、位置登録プログラムおよび記録媒体
DE102006058213A1 (de) * 2006-12-11 2008-07-03 Bayerische Motoren Werke Aktiengesellschaft Fahrzeug mit einem Einparkhilfesystem
JP2011016401A (ja) 2009-07-07 2011-01-27 Toyota Industries Corp 駐車支援装置
DE112010005182B4 (de) * 2010-01-26 2015-04-02 Mitsubishi Electric Corp. Fahrzeuginformation-Anzeigesystem
RU97312U1 (ru) 2010-05-11 2010-09-10 Артем Вадимович Касаткин Система автоматизированной парковки транспортного средства
DE102010023162A1 (de) * 2010-06-09 2011-12-15 Valeo Schalter Und Sensoren Gmbh Verfahren zum Unterstützen eines Fahrers eines Kraftfahrzeugs beim Einparken in eine Parklücke, Fahrerassistenzeinrichtung und Kraftfahrzeug
JP5482770B2 (ja) * 2011-11-28 2014-05-07 株式会社デンソー ナビゲーション装置
CN202896566U (zh) * 2012-10-31 2013-04-24 浙江吉利汽车研究院有限公司杭州分公司 一种汽车自动泊车控制装置
KR101371478B1 (ko) 2012-10-31 2014-03-25 현대자동차주식회사 전자동 주차 시스템 및 그것의 제어방법
DE102012023706A1 (de) 2012-12-05 2014-06-05 Daimler Ag Fahrzeugseitiges Verfahren und fahrzeugseitige Vorrichtung zum Erfassen und Anzeigen von Parklücken für ein Fahrzeug
US9761139B2 (en) * 2012-12-20 2017-09-12 Wal-Mart Stores, Inc. Location based parking management system
US20180194344A1 (en) * 2016-07-29 2018-07-12 Faraday&Future Inc. System and method for autonomous vehicle navigation
JP6318204B2 (ja) 2016-08-31 2018-04-25 本田技研工業株式会社 駐車出庫支援装置
KR102340356B1 (ko) * 2017-04-25 2021-12-16 주식회사 만도모빌리티솔루션즈 자동주차제어장치 및 자동주차제어방법
JP6760221B2 (ja) 2017-07-04 2020-09-23 株式会社デンソー 制御装置
CN107776571A (zh) * 2017-10-31 2018-03-09 重庆长安汽车股份有限公司 一种自动泊车系统
US20190220737A1 (en) * 2018-01-17 2019-07-18 Hengshuai Yao Method of generating training data for training a neural network, method of training a neural network and using neural network for autonomous operations
JP6909168B2 (ja) * 2018-01-23 2021-07-28 日立Astemo株式会社 駐車支援装置
DE102018101513A1 (de) 2018-01-24 2019-07-25 Valeo Schalter Und Sensoren Gmbh Verfahren zur Detektion von Garagenparkplätzen
JP6897597B2 (ja) * 2018-02-16 2021-06-30 トヨタ自動車株式会社 駐車支援装置
WO2019181265A1 (ja) 2018-03-23 2019-09-26 日立オートモティブシステムズ株式会社 駐車支援装置
CN109017766A (zh) * 2018-08-03 2018-12-18 湖北汽车工业学院 一种用于自动驾驶车辆的平行车位全自动泊车控制系统
CN109466545B (zh) * 2018-11-16 2021-04-13 广州小鹏汽车科技有限公司 自动泊车方法及车载控制系统
CN110182201A (zh) * 2019-04-10 2019-08-30 海马汽车有限公司 一种泊车方法、装置及泊车辅助系统
CN110239510B (zh) * 2019-05-10 2021-05-25 浙江吉利控股集团有限公司 自动泊车控制方法、装置和设备
CN110901632B (zh) * 2019-11-29 2021-04-06 长城汽车股份有限公司 一种自动泊车控制方法及装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170355307A1 (en) * 2016-06-14 2017-12-14 Lg Electronics Inc. Parking assistance apparatus and vehicle having the same
CN108860139A (zh) * 2018-04-11 2018-11-23 浙江零跑科技有限公司 一种基于深度增强学习的自动泊车轨迹规划方法
CN108875911A (zh) * 2018-05-25 2018-11-23 同济大学 一种泊车位检测方法
CN109808682A (zh) * 2019-02-20 2019-05-28 百度在线网络技术（北京）有限公司 无人车停靠方法、装置和终端

Also Published As

Publication number Publication date
KR20220093095A (ko) 2022-07-05
JP2022551272A (ja) 2022-12-08
JP7379683B2 (ja) 2023-11-14
CN110901632A (zh) 2020-03-24
WO2021104476A1 (zh) 2021-06-03
CN110901632B (zh) 2021-04-06
EP4023517A1 (de) 2022-07-06
EP4023517B1 (de) 2024-01-03
US11745730B2 (en) 2023-09-05
US20220340127A1 (en) 2022-10-27

Similar Documents

Publication Publication Date Title
EP4023517A4 (de) Verfahren und vorrichtung zur steuerung von automatischem parken
EP3812228A4 (de) Automatisches einparkverfahren und -system
EP4032769A4 (de) Intelligentes parkverfahren und -gerät
EP4049908A4 (de) Verfahren und vorrichtung zur automatischen einparkinteraktion
EP4023516A4 (de) Automatisches einparkverfahren, -vorrichtung und -system
EP3965374A4 (de) Verfahren und vorrichtung zur vorrichtungssteuerung
EP4029311A4 (de) Verfahren und vorrichtung zur strömungssteuerung
EP3778325A4 (de) Verfahren und vorrichtung zur steuerung von fahrzeugparken
EP3857806A4 (de) Verfahren und vorrichtung zur automatischen verstärkungsregelung in einem vehicle-to-everything-system
EP4049910A4 (de) Automatisches steuerungssystem, steuerverfahren und vorrichtung
EP3950448A4 (de) Fahrzeugsteuerungsverfahren und fahrzeugsteuerungsvorrichtung
EP3825852A4 (de) Belegungssteuerungsverfahren und vorrichtung für kameraanwendung
EP3636501A4 (de) Automatisches parksteuerverfahren und automatische parksteuervorrichtung für fahrzeuge
EP3744597A4 (de) Verfahren zum automatischen betrieb eines fahrzeugs und automatische steuervorrichtung
EP3816967A4 (de) Verfahren, vorrichtung und system für automatisches parken sowie fahrzeug
EP3780440A4 (de) Übertragungssteuerungsverfahren und -vorrichtung
EP3885520A4 (de) Fahrzeug und steuerungsverfahren und vorrichtung dafür
EP3757710A4 (de) Automatisches fahrzeugfahrsteuerverfahren und automatisches fahrsteuergerät
EP3812867A4 (de) Fahrzeugsteuerungsverfahren und -vorrichtung
EP3617896A4 (de) Verfahren und vorrichtung zur intelligenten reaktion
EP3632750A4 (de) Parksteuerungsverfahren und parksteuerungsvorrichtung
EP3816003A4 (de) Automatisches parkverfahren und fahrzeugsteuerungssystem
EP3858696A4 (de) Verfahren und vorrichtung zur automatischen fahrzeughaltesteuerung
EP3783496A4 (de) Vorrichtungsteuerungssystem und vorrichtungssteuerungsverfahren
EP4071025A4 (de) Fahrzeugsteuerungsverfahren und fahrzeugsteuerungsvorrichtung

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220331

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Ref document number: 602020024055

Country of ref document: DE

Free format text: PREVIOUS MAIN CLASS: B60W0030060000

Ipc: B62D0015020000

Ref country code: DE

Ref legal event code: R079

Free format text: PREVIOUS MAIN CLASS: B60W0030060000

Ipc: B62D0015020000

A4 Supplementary search report drawn up and despatched

Effective date: 20221010

RIC1 Information provided on ipc code assigned before grant

Ipc: G06N 3/06 20060101ALN20221004BHEP

Ipc: B60W 30/06 20060101ALI20221004BHEP

Ipc: B62D 15/02 20060101AFI20221004BHEP

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230530

RIC1 Information provided on ipc code assigned before grant

Ipc: G06N 3/06 20060101ALN20230801BHEP

Ipc: B60W 30/06 20060101ALI20230801BHEP

Ipc: B62D 15/02 20060101AFI20230801BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20230914

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602020024055

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240103

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240103

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20240103